CN107943049B - Unmanned vehicle control method and unmanned mowing vehicle - Google Patents

Unmanned vehicle control method and unmanned mowing vehicle Download PDF

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CN107943049B
CN107943049B CN201711331721.0A CN201711331721A CN107943049B CN 107943049 B CN107943049 B CN 107943049B CN 201711331721 A CN201711331721 A CN 201711331721A CN 107943049 B CN107943049 B CN 107943049B
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steering angle
steering
deviation
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CN107943049A (en
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张孝勇
郑友胜
陈寿辉
齐洪豪
谢训鹏
吴添成
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Jiangxi Hongdu Aviation Industry Group Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

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Abstract

The invention relates to an unmanned vehicle and a control method design thereof, in particular to an unmanned vehicle control method and an unmanned mowing vehicle. The unmanned vehicle control method comprises the following steps: acquiring position information and posture information of the unmanned vehicle at the current moment; calculating the distance deviation and the angle deviation between the position and the course of the unmanned vehicle at the current moment and the planned path; respectively acquiring the steering angle of the steering mechanism of the unmanned vehicle when the distance deviation is not less than the distance deviation threshold value and is greater than the distance deviation threshold value; and sending the obtained steering angle of the steering mechanism of the unmanned vehicle to the unmanned vehicle in a control instruction form. According to the unmanned mowing vehicle control method and the unmanned mowing vehicle, accurate position and posture information of the unmanned mowing vehicle can be obtained, and position deviation and angle deviation obtained by combining with planning path calculation are more accurate and effective; in addition, different correction steering strategies can be adopted according to different situations, and the correct track can be quickly returned to.

Description

Unmanned vehicle control method and unmanned mowing vehicle
Technical Field
The invention relates to an unmanned vehicle and a control method design thereof, in particular to an unmanned vehicle control method and an unmanned mowing vehicle.
Background
With the rapid development of science and technology, unmanned vehicles are more and more concerned about development, and various automobile manufacturers and technology companies at home and abroad put a great deal of energy into the research and development of unmanned vehicles. The unmanned vehicle is a comprehensive robot system integrating multiple functions of environment perception, path planning, decision control and the like.
The decision control is equivalent to the brain of the unmanned vehicle, and the decision control has the main function of carrying out decision judgment according to the information obtained by the sensing system, further carrying out decision on the next action and controlling the vehicle to move. Therefore, decision control technology is a critical technology in unmanned vehicle systems. The behavior of decision control systems is divided into reactive, reflective and synthetic. The reactive control is a feedback control process, which continuously adjusts the steering wheel angle and the vehicle speed according to the deviation of the current position of the vehicle and the expected path until the destination is reached. However, it is not possible to smoothly control the unmanned vehicle by simply obtaining the trajectory tracking control by the positional deviation.
In order to solve the problems, some existing unmanned vehicles observe information of surrounding roads and obstacles through a high-definition camera, a laser scanner, a radar sensor and the like so as to establish a track tracking control algorithm, but the method is complex in algorithm, high in implementation difficulty and not suitable for being used in outdoor occasions.
In addition, the unmanned mowing vehicle is an application example of unmanned vehicle technology in a specific occasion, and is mainly applied to large airport lawn trimming operation. The unmanned mowing vehicle collects boundary information of an operation map through a GPS satellite navigator, and plans an optimal traveling path to perform traversal mowing operation in an area. Therefore, how to control the unmanned mowing vehicle to travel according to the planned path to realize the track tracking control method of the full-coverage traversing mowing operation in the area becomes important.
Disclosure of Invention
The invention aims to provide an unmanned vehicle control method and an unmanned mowing vehicle, and aims to solve at least one problem of the existing unmanned vehicle and the existing unmanned mowing vehicle control method.
The technical scheme of the invention is as follows:
an unmanned vehicle control method comprises the following steps:
the method comprises the steps of firstly, obtaining position information and posture information of the unmanned vehicle at the current moment;
step two, calculating the distance deviation and the angle deviation between the position and the course of the unmanned vehicle at the current moment and a planned path;
step three, comparing the distance deviation with a set distance deviation threshold value, and combining the angle deviation to obtain the steering angle of the steering mechanism of the unmanned vehicle, wherein the method specifically comprises the following steps:
when the distance deviation is not less than the distance deviation threshold value, the steering angle θ is obtained by the following formula (1):
Figure BDA0001506770500000021
wherein, a1、b1Is a coefficient, θmaxMaximum steering angle of steering mechanism of unmanned vehicle, dtD, the vertical distance between the center point of the unmanned vehicle and the planned path is the distance deviation threshold, and α is the angle deviation between the unmanned vehicle and the planned path at the current moment;
when the distance deviation is larger than a distance deviation threshold value, a steering angle θ is obtained by the following relation (2):
Figure BDA0001506770500000022
wherein theta is a positive value and indicates left steering, and theta is a negative value and indicates right steering;
and step four, sending the obtained steering angle of the steering mechanism of the unmanned vehicle to a steering motor of the unmanned vehicle in a control instruction form.
Optionally, after the third step and before the fourth step, the method further includes the following steps:
the steering angle obtained is corrected by the following step function (3):
Figure BDA0001506770500000031
wherein θ is the steering angle corrected in this step;
and in the fourth step, the corrected steering angle is sent to a steering motor of the unmanned vehicle in a control command form.
Optionally, the step of correcting the obtained steering angle by the step function further includes:
and adding a loop function on the basis of the step function so as to correct the obtained steering angle.
Optionally, after the third step and before the fourth step, the method further includes the following steps:
correcting the steering angle according to the current speed condition of the unmanned vehicle, specifically adopting the following relational expression (4):
Figure BDA0001506770500000032
wherein, a2、b2And v is the coefficient of the current speed of the unmanned vehicle.
Optionally, the distance deviation threshold is equal to the maximum speed of the unmanned vehicle at the current time multiplied by the instruction period.
The invention also provides an unmanned mowing vehicle which is controlled by adopting any one of the unmanned vehicle control methods, wherein the unmanned mowing vehicle comprises:
the first satellite receiving antenna is fixedly arranged at the center of a rear wheel shaft of the unmanned mowing vehicle;
the second satellite receiving antenna is fixedly arranged at the center of the front wheel shaft of the unmanned mowing vehicle;
the GPS-RTK receiver is fixedly arranged on the unmanned mowing vehicle and is used for acquiring the position information and the posture information of the unmanned mowing vehicle at the current moment according to the information received by the first satellite receiving antenna and the second satellite receiving antenna which are connected with the GPS-RTK receiver;
the controller is fixedly arranged on the unmanned mowing vehicle and is used for:
calculating distance deviation and angle deviation between the position and the course of the unmanned mowing vehicle and a planned path at the current moment according to the position information and the posture information of the unmanned mowing vehicle at the current moment;
calculating a steering angle of a steering mechanism of the unmanned mowing vehicle by comparing the distance deviation with a set distance deviation threshold value and combining the angle deviation;
and sending the obtained steering angle of the steering mechanism of the unmanned mowing vehicle to a steering motor of the unmanned mowing vehicle in a control instruction form.
Optionally, the controller is further configured to correct the obtained steering angle through a step function, and send the corrected steering angle to a steering motor of the unmanned mowing vehicle in a control instruction form.
Optionally, the controller is further configured to add a loop function to the step function, so as to correct the obtained steering angle.
Optionally, the controller is further configured to correct the steering angle according to the current vehicle speed of the unmanned mowing vehicle.
Optionally, the effective swath and the actual swath of the header of the unmanned mowing vehicle are determined by using the following relation (5):
L≤S-2·D(5)；
wherein L is an effective cutting width, S is an actual cutting width, and D is the track tracking control precision deviation of the unmanned mowing vehicle.
The invention has the following effects:
according to the unmanned mowing vehicle control method and the unmanned mowing vehicle, accurate position and posture information of the unmanned mowing vehicle can be obtained, and position deviation and angle deviation obtained by combining with planning path calculation are more accurate and effective; in addition, different deviation rectifying and steering strategies can be adopted according to different situations, and the user can be ensured to return to the correct track more quickly.
Drawings
FIG. 1 is a schematic view of the unmanned mowing vehicle for deviation rectification and turning;
FIG. 2 is a schematic view of the large deviation rectifying steering of the unmanned mowing vehicle of the invention;
FIG. 3 is another schematic view of the large deviation rectifying steering of the unmanned mowing vehicle of the invention;
FIG. 4 is a schematic view of a step function of the steering angle of the unmanned mowing vehicle;
FIG. 5 is a schematic view of the steering angle dead zone setting of the unmanned mowing vehicle of the invention;
FIG. 6 is a diagram of the effect of the track following control simulation of the unmanned mowing vehicle.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
The unmanned vehicle control method and the unmanned mowing vehicle of the invention are further described in detail with reference to fig. 1 to 6.
The invention provides an unmanned vehicle control method (unmanned vehicle trajectory tracking control method), which is a process for controlling the steering angle and speed of an unmanned vehicle to enable the unmanned vehicle to run along a planned trajectory. The GPS-RTK satellite navigation technology is adopted, a satellite receiving antenna is arranged on the unmanned vehicle to acquire the accurate position and attitude information of the unmanned vehicle, and the position deviation (namely distance deviation) and the angle deviation are calculated by combining a planned path. And establishing a track tracking and deviation rectifying algorithm of the unmanned mowing vehicle on the basis of the position deviation and the angle deviation, setting a plurality of position deviation threshold values and angle deviation threshold values, linearly and continuously changing the steering angle within a small deviation range, and controlling the unmanned vehicle to return to a correct running track as soon as possible by adopting a large steering angle when the steering angle exceeds the threshold range. The steering angle can be optimized by selectively adding a step function, a loop function and a speed function to the steering angle control aiming at different steering actuators.
It should be noted that the unmanned vehicle control method of the present invention can be applied to various suitable unmanned vehicles according to the needs; the following description will be made in detail by taking an unmanned mowing vehicle as an example.
The unmanned mowing vehicle adopts a GPS-RTK technology to obtain positioning navigation information, and adopts double receiving antennas; specifically, a first satellite receiving antenna T1, a second satellite receiving antenna T2, a GPS-RTK receiver, and a controller, etc. may be included. The first satellite receiving antenna T1 is fixedly arranged at the center of the rear axle of the unmanned mowing vehicle; the second satellite receiving antenna T2 is fixedly arranged at the center of the front axle of the unmanned mowing vehicle.
The GPS-RTK receiver is fixedly arranged at a preset position on the unmanned mowing vehicle, and is mainly used for calculating and obtaining the position information and the attitude information of the unmanned mowing vehicle at the current moment according to the information received by the first satellite receiving antenna and the second satellite receiving antenna which are connected with the GPS-RTK receiver, and sending the position information and the attitude information to the controller.
The controller is fixedly arranged at a preset position on the unmanned mowing vehicle, and various known suitable controller devices such as a single chip microcomputer, a microcomputer and the like can be selected according to requirements; the controller is configured to calculate distance deviation and angle deviation between the position and the heading of the unmanned mowing vehicle at the current moment and a planned path according to the position information and the posture information of the unmanned mowing vehicle at the current moment, which are sent by the GPS-RTK receiver, and send control instructions (such as a steering angle instruction and a speed instruction) for controlling the unmanned mowing vehicle.
Further, the controller is further configured for:
the steering angle of the steering mechanism of the unmanned mowing vehicle is obtained by comparing the distance deviation with a set distance deviation threshold value and combining the angle deviation; sending the obtained steering angle of the steering mechanism of the unmanned mowing vehicle to a steering motor of the unmanned mowing vehicle in a control instruction form; correcting the obtained steering angle through a step function, and sending the corrected steering angle to a steering motor of the unmanned mowing vehicle in a control instruction form; adding a loop function on the basis of the step function so as to correct the obtained steering angle; and correcting the steering angle according to the current speed condition of the unmanned mowing vehicle.
The control method of the unmanned mowing vehicle comprises the following steps of:
the method comprises the following steps that firstly, a GPS-RTK receiver obtains position information and attitude information of the unmanned vehicle at the current moment according to received information received by a first satellite receiving antenna and a second satellite receiving antenna.
Specifically, the GPS-RTK receiver may resolve to obtain high-precision position signals of the current two receiving antennas, and obtain heading information indicating that T1 points to the T2 direction, that is, the current heading attitude of the unmanned mowing vehicle. Course angle
Figure BDA0001506770500000071
Can pass through the T1 position (x)1,y1) And position T2 (x)2,y2) And (3) calculating to obtain:
Figure BDA0001506770500000081
the position precision obtained by adopting the GPS-RTK technology is centimeter level, and the course angle precision error is s if the precision error is s
Figure BDA0001506770500000082
It can be seen that the larger the positions of the antennas T1 and T2 are, the higher the heading angle accuracy is.
And secondly, calculating distance deviation and angle deviation between the position and the course of the unmanned vehicle and the planned path at the current moment by the controller according to the position information and the attitude information of the unmanned vehicle at the current moment transmitted by the GPS-RTK receiver.
As shown in fig. 1, a schematic diagram of the unmanned mowing vehicle for controlling the small deviation correction steering angle is given, wherein the planned path is 1, an arrow indicates a path direction, a vertical distance between a midpoint of the unmanned mowing vehicle and the planned path is d, and a distance deviation threshold value d is settα is the angular deviation between the current unmanned mowing vehicle and the planned path.
Step three, the controller is through comparing distance deviation and the distance deviation threshold value that sets up to combine the angle deviation, acquire unmanned car steering mechanism's steering angle, specifically include:
1) when the distance deviation is not less than the distance deviation threshold (i.e., d ≦ d)tTime), the steering angle θ is obtained by the following formula (1):
Figure BDA0001506770500000083
wherein, a1、b1The coefficient is set according to the actual debugging condition and is generally set as 1; thetamaxThe maximum steering angle of the steering mechanism of the unmanned vehicle. In addition, in the present embodiment, the distance deviation threshold d is preferably settEqual to maximum speed VmaxMultiplied by the instruction period T.
2) When the distance deviation is greater than the distance deviation threshold (i.e., d)>dt) The steering angle θ is obtained by the following relation (2):
Figure BDA0001506770500000091
where θ is positive for left turn and negative for right turn.
And step four, the controller sends the obtained steering angle of the steering mechanism of the unmanned vehicle to a steering motor of the unmanned vehicle in a control instruction form.
According to the unmanned mowing vehicle control method and the unmanned mowing vehicle, accurate position and posture information of the unmanned mowing vehicle can be obtained, and position deviation and angle deviation obtained by combining with planning path calculation are more accurate and effective; in addition, different correction steering strategies can be adopted according to different situations, and the correct track can be quickly returned to.
Further, since the steering motor will get a new steering angle command in each command cycle, and the steering mechanism will be damaged if a steering command is given frequently, the control method of the unmanned mowing vehicle further comprises the following steps after the third step and before the fourth step:
the steering angle obtained is corrected by the following step function (3):
Figure BDA0001506770500000092
wherein θ is the steering angle corrected in this step; and in addition, the controller sends the corrected steering angle to a steering motor of the unmanned vehicle in a control command form.
FIG. 4 is a schematic diagram of a steering angle step function, i.e. discretizing the original continuous steering angle output. The unmanned vehicle can avoid frequently operating the steering motor in the process of controlling the steering angle to realize the track tracking, thereby reducing the loss of the steering mechanism.
Further, a steering mechanism shake phenomenon still exists at the boundary value of the step function, and in order to eliminate the shake phenomenon, in the control method of the unmanned mowing vehicle of the invention, the step of correcting the obtained steering angle by the step function further comprises:
and adding a loop function on the basis of the step function so as to correct the obtained steering angle. Fig. 5 is a schematic diagram showing the effect of the increasing loop function, that is, a dead zone is arranged at the edge of the change of the output steering angle to prevent the jitter.
Further, in the control method of the unmanned mowing vehicle, when the unmanned mowing vehicle executes the trajectory tracking algorithm to output the steering angle, the current vehicle speed condition should be considered. Specifically, the method further comprises the following steps after the third step and before the fourth step:
correcting the steering angle according to the current speed condition of the unmanned vehicle, specifically adopting the following relational expression (4):
Figure BDA0001506770500000101
wherein, a2、b2The coefficient is set according to field debugging, so that the steering angle is correspondingly reduced when the speed is higher; v the current speed of the unmanned vehicle.
In the unmanned mowing vehicle of the invention, if the deviation of the track tracking control precision of the unmanned mowing vehicle is D, the relationship between the distance L (namely, the effective swath) between two adjacent lines of the unmanned mowing vehicle and the actual swath S of the header is required to be set as follows:
L≤S-2·D (5)；
therefore, the unmanned mowing vehicle can be fully covered, and the phenomenon of missed cutting is avoided. At this time, the mowing coverage efficiency F of the unmanned mowing vehicle is as follows:
Figure BDA0001506770500000102
as shown in fig. 6, in an embodiment of the unmanned mowing vehicle of the present invention, the cutting header swath is 2.4 meters, and the unmanned mowing vehicle implements trajectory tracking control after adopting the control method, starts to run from a position with a deviation of-1 m, and quickly returns to a planned trajectory to run, and the overshoot deviation is less than 0.1 m. Therefore, the effective cutting width L of the unmanned mowing vehicle is set to be 2m, and full-coverage mowing operation can be guaranteed.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (9)

1. The unmanned vehicle control method is characterized by comprising the following steps:
the method comprises the steps of firstly, obtaining position information and posture information of the unmanned vehicle at the current moment;
step two, calculating the distance deviation and the angle deviation between the position and the course of the unmanned vehicle at the current moment and a planned path;
step three, comparing the distance deviation with a set distance deviation threshold value, and combining the angle deviation to obtain the steering angle of the steering mechanism of the unmanned vehicle, wherein the method specifically comprises the following steps:
when the distance deviation is not less than the distance deviation threshold value, the steering angle θ is obtained by the following formula (1):
Figure FDA0002247546290000011
wherein, a1、b1Is a coefficient, θmaxMaximum steering angle of steering mechanism of unmanned vehicle, dtD, the vertical distance between the center point of the unmanned vehicle and the planned path is the distance deviation threshold, and α is the angle deviation between the unmanned vehicle and the planned path at the current moment;
when the distance deviation is larger than a distance deviation threshold value, a steering angle θ is obtained by the following relation (2):
Figure FDA0002247546290000012
wherein theta is a positive value and indicates left steering, and theta is a negative value and indicates right steering;
step four, the obtained steering angle of the steering mechanism of the unmanned vehicle is sent to a steering motor of the unmanned vehicle in a control instruction form;
after the third step and before the fourth step, the method further comprises the following steps:
the steering angle obtained is corrected by the following step function (3):
Figure FDA0002247546290000021
wherein θ' is the steering angle corrected in this step;
and in the fourth step, the corrected steering angle is sent to a steering motor of the unmanned vehicle in a control command form.
2. The unmanned vehicle control method according to claim 1, wherein in the step of correcting the obtained steering angle by the step function, further comprising:
and adding a loop function on the basis of the step function so as to correct the obtained steering angle.
3. The unmanned vehicle control method of claim 2, further comprising, after step three and before step four, the steps of:
correcting the steering angle according to the current speed condition of the unmanned vehicle, specifically adopting the following relational expression (4):
Figure FDA0002247546290000022
wherein, a2、b2And v is the coefficient of the current speed of the unmanned vehicle.
4. The unmanned aerial vehicle control method of claim 1, wherein the distance deviation threshold is equal to a maximum vehicle speed of the unmanned aerial vehicle at a current time multiplied by a command period.
5. An unmanned mowing vehicle, characterized by being controlled by the unmanned vehicle control method according to any one of claims 1 to 4, wherein the unmanned mowing vehicle comprises:
the first satellite receiving antenna is fixedly arranged at the center of a rear wheel shaft of the unmanned mowing vehicle;
the second satellite receiving antenna is fixedly arranged at the center of the front wheel shaft of the unmanned mowing vehicle;
the GPS-RTK receiver is fixedly arranged on the unmanned mowing vehicle and is used for acquiring the position information and the posture information of the unmanned mowing vehicle at the current moment according to the information received by the first satellite receiving antenna and the second satellite receiving antenna which are connected with the GPS-RTK receiver;
the controller is fixedly arranged on the unmanned mowing vehicle and is used for:
calculating distance deviation and angle deviation between the position and the course of the unmanned mowing vehicle and a planned path at the current moment according to the position information and the posture information of the unmanned mowing vehicle at the current moment;
calculating a steering angle of a steering mechanism of the unmanned mowing vehicle by comparing the distance deviation with a set distance deviation threshold value and combining the angle deviation;
and sending the obtained steering angle of the steering mechanism of the unmanned mowing vehicle to a steering motor of the unmanned mowing vehicle in a control instruction form.
6. The unmanned mowing vehicle of claim 5, wherein the controller is further configured to modify the obtained steering angle by a step function, and send the modified steering angle to a steering motor of the unmanned mowing vehicle in the form of a control command.
7. The unmanned mowing vehicle of claim 6, wherein the controller is further configured to add a sigmoid function to the step function to modify the obtained steering angle.
8. The unmanned mowing vehicle of claim 7, wherein the controller is further configured to modify the steering angle according to a current vehicle speed of the unmanned mowing vehicle.
9. The unmanned mowing vehicle according to claim 5, wherein the effective swath and the actual swath of the mowing platform of the unmanned mowing vehicle are determined according to the following relation (5):
L≤S-2·D (5)；
wherein L is an effective cutting width, S is an actual cutting width, and D is the track tracking control precision deviation of the unmanned mowing vehicle.
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